头文件:

#include <pcl/filters/voxel_grid.h>

函数示例:

void pclDownsize(pcl::PointCloud<pcl::PointXYZ>::Ptr in, pcl::PointCloud<pcl::PointXYZ>::Ptr out)
{
    pcl::VoxelGrid<pcl::PointXYZ> down_filter;
    float leaf = 0.05;
    down_filter.setLeafSize(leaf, leaf, leaf);
    down_filter.setInputCloud(in);
    down_filter.filter(*out);
}